The differentiation by integration method with Jacobi polynomials was
originally introduced by Mboup, Join and Fliess. This paper generalizes this
method from the integer order to the fractional order for estimating the
fractional order derivatives of noisy signals. The proposed fractional order
differentiator is deduced from the Jacobi orthogonal polynomial filter and the
Riemann-Liouville fractional order derivative definition. Exact and simple
formula for this differentiator is given where an integral formula involving
Jacobi polynomials and the noisy signal is used without complex mathematical
deduction. Hence, it can be used both for continuous-time and discrete-time
models. The comparison between our differentiator and the recently introduced
digital fractional order Savitzky-Golay differentiator is given in numerical
simulations so as to show its accuracy and robustness with respect to
corrupting noises
